Triangulates a set of 2D-2D undistorted points correspondances with known respective camera poses. UUID: 3a01b0e9-9a76-43f5-97b3-85bb6979b953
More...
#include <ITriangulator.h>
Inheritance diagram for SolAR::api::solver::map::ITriangulator:
Collaboration diagram for SolAR::api::solver::map::ITriangulator:
Public Member Functions | |
| ITriangulator ()=default | |
| ITriangulator default constructor. | |
| virtual | ~ITriangulator ()=default |
| ITriangulator default destructor. | |
| virtual void | setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distorsionParams)=0 |
| this method is used to set intrinsic parameters and distorsion of the camera More... | |
| virtual double | triangulate (const std::vector< SolAR::datastructure::Point2Df > &pointsView1, const std::vector< SolAR::datastructure::Point2Df > &pointView2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const SolAR::datastructure::Transform3Df &poseView1, const SolAR::datastructure::Transform3Df &poseView2, std::vector< SRef< SolAR::datastructure::CloudPoint > > &pcloud)=0 |
| triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
| virtual double | triangulate (const std::vector< SolAR::datastructure::Keypoint > &keypointsView1, const std::vector< SolAR::datastructure::Keypoint > &keypointsView2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const SolAR::datastructure::Transform3Df &poseView1, const SolAR::datastructure::Transform3Df &poseView2, std::vector< SRef< SolAR::datastructure::CloudPoint > > &pcloud)=0 |
| triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
| virtual double | triangulate (const std::vector< SolAR::datastructure::Keypoint > &keypointsView1, const std::vector< SolAR::datastructure::Keypoint > &keypointsView2, const SRef< SolAR::datastructure::DescriptorBuffer > &descriptor1, const SRef< SolAR::datastructure::DescriptorBuffer > &descriptor2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const SolAR::datastructure::Transform3Df &poseView1, const SolAR::datastructure::Transform3Df &poseView2, std::vector< SRef< SolAR::datastructure::CloudPoint > > &pcloud)=0 |
| triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
| virtual double | triangulate (SRef< SolAR::datastructure::Frame > frame1, SRef< SolAR::datastructure::Frame > frame2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, std::vector< SRef< SolAR::datastructure::CloudPoint > > &pcloud, const bool &onlyDepth=false)=0 |
| calculating 3D cloud points by triangulating pairs of matched features or using depth information of keypoints. More... | |
Detailed Description
Triangulates a set of 2D-2D undistorted points correspondances with known respective camera poses. UUID: 3a01b0e9-9a76-43f5-97b3-85bb6979b953
Member Function Documentation
◆ setCameraParameters()
|
pure virtual |
this method is used to set intrinsic parameters and distorsion of the camera
- Parameters
-
[in] intrinsicParams camera calibration matrix parameters. [in] distorsionParams camera distorsion parameters.
◆ triangulate() [1/4]
|
pure virtual |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
- Parameters
-
[in] pointsView1 set of keypoints seen in view_1. [in] pointsView2 set of keypoints seen in view_2. [in] descriptor1 set of descriptors in view_1. [in] descriptor2 set of descriptors in view_2. [in] matches the matches between the keypoints of the view1 and the keypoints of the view 2. [in] working_views a pair representing the id of the two views [in] poseView1 Camera pose in the world coordinates system of the view_1 expressed as a Transform3D. [in] poseView2 Camera pose in the world coordinates system of the view_2 expressed as a Transform3D.. [out] pcloud Set of triangulated 3d_points.
- Returns
- the mean re-projection error (mean distance in pixels between the original 2D points and the projection of the reconstructed 3D points)
◆ triangulate() [2/4]
|
pure virtual |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
- Parameters
-
[in] keypointsView1 set of keypoints seen in view_1. [in] keypointsView2 set of keypoints seen in view_2. [in] matches the matches between the keypoints of the view1 and the keypoints of the view 2. [in] working_views a pair representing the id of the two views [in] poseView1 camera pose in the world coordinates system of the view_1 expressed as a Transform3D. [in] poseView2 camera pose in the world coordinates system of the view_2 expressed as a Transform3D.. [out] pcloud set of triangulated 3d_points.
- Returns
- the mean re-projection error (mean distance in pixels between the original 2D points and the projection of the reconstructed 3D points)
◆ triangulate() [3/4]
|
pure virtual |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
- Parameters
-
[in] pointsView1 set of 2D points seen in view_1. [in] pointsView2 set of 2D points seen in view_2. [in] matches the matches between the keypoints of the view1 and the keypoints of the view 2. [in] working_views a pair representing the id of the two views [in] poseView1 camera pose in the world coordinates system of the view_1 expressed as a Transform3D. [in] poseView2 camera pose in the world coordinates system of the view_2 expressed as a Transform3D.. [out] pcloud set of triangulated 3d_points.
- Returns
- the mean re-projection error (mean distance in pixels between the original 2D points and the projection of the reconstructed 3D points)
◆ triangulate() [4/4]
|
pure virtual |
calculating 3D cloud points by triangulating pairs of matched features or using depth information of keypoints.
- Parameters
-
[in] frame1 the first frame. [in] frame2 the second frame. [in] matches the matches between these two frames. [in] working_views a pair representing the id of the two views [out] pcloud Set of triangulated 3d_points. [in] onlyDepth if it is true, using only depth information of keypoints for computing 3D cloud points.
- Returns
- the mean re-projection error (mean distance in pixels between the original 2D points and the projection of the reconstructed 3D points)
The documentation for this class was generated from the following file:
- interfaces/api/solver/map/ITriangulator.h
